Pololu 3pi Robot Manual do Utilizador descarregar pdf (Página 46)

Pin Assignment Table Sorted by Pin

ATmegaxx8

3pi Function Notes/Alternate Functions

PD0 free digital I/O USART input pin (RXD)

PD1 free digital I/O

connected to red user LED (high turns LED on)

USART output pin (TXD)

PD2 LCD control line RS external interrupt 0 (INT0)

PD3 M2 control line Timer2 PWM output B (OC2B)

PD4 LCD control line E

USART external clock input/output (XCK)

Timer0 external counter (T0)

PD5 M1 control line Timer0 PWM output B (OC0B)

PD6 M1 control line Timer0 PWM output A (OC0A)

PD7 LCD data line DB7 connected to green user LED (high turns LED on)

PB0 LCD control line R/W

Timer1 input capture (ICP1)

divided system clock output (CLK0)

PB1 LCD data line DB4

user pushbutton (pressing pulls pin low)

Timer1 PWM output A (OC1A)

PB2 buzzer Timer1 PWM output B (OC1B)

PB3 M2 control line

Timer2 PWM output A (OC2A)

ISP programming line

PB4 LCD data line DB5

user pushbutton (pressing pulls pin low)

Caution: also an ISP programming line

PB5 LCD data line DB6

user pushbutton (pressing pulls pin low)

Caution: also an ISP programming line

PC0

QTR-RC reflectance

sensor

(drive high for 10 us, then wait for line input to go low) sensor labeled PC0

(leftmost sensor)

PC1

QTR-RC reflectance

sensor

(drive high for 10 us, then wait for line input to go low) sensor labeled PC1

PC2

QTR-RC reflectance

sensor

(drive high for 10 us, then wait for line input to go low) sensor labeled PC2 (center

sensor)

PC3

QTR-RC reflectance

sensor

(drive high for 10 us, then wait for line input to go low) sensor labeled PC3

PC4

QTR-RC reflectance

sensor

(drive high for 10 us, then wait for line input to go low) sensor labeled PC4

(rightmost sensor)

PC5

analog input and digital

I/O

jumpered to sensors’ IR LEDs (driving low turns off emitters)

ADC input channel 5 (ADC5)

ADC6 dedicated analog input jumpered to 2/3rds of battery voltage ADC input channel 6 (ADC6)

ADC7 dedicated analog input jumpered to user trimmer potentiometer ADC input channel 7 (ADC7)

reset reset pushbutton internally pulled high; active low digital I/O disabled by default

9. Pin Assignment Tables Page 46 of 63

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